An end-to-end system for designing mechanical structures for print-and-fold robots
Name
Rus_An end-to-end.pdf
Size
1.87 MB
Format
Adobe PDF
Checksum (MD5)
83a9ba50613bea7fbeb9dd2a4040e12f
Author(s)
Mehta, Ankur M.
Rus, Daniela L.
Date Issued
May 2014
Journal
Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Mehta, Ankur M., and Daniela Rus. “An End-to-End System for Designing Mechanical Structures for Print-and-Fold Robots.” 2014 IEEE International Conference on Robotics and Automation (ICRA) (May 2014).
Version
Original manuscript
Abstract
This work presents a script-based development environment aimed at allowing users to easily design and create mechanical bodies for folded plastic robots. The origami-inspired fabrication process is inexpensive and widely accessible, and the tools developed in this work allow for open source design sharing and modular reuse. Designs are generated by recursively combining mechanical components - from primitive building blocks, through mechanisms and assemblies, to full robots - in a flexible yet well-defined manner. This process was used to design robotic elements of increasing complexity up to a multi-degree-of-freedom compliant manipulator arm, demonstrating the power of this system. The developed system is extensible, opening avenues for further research ultimately leading to the development of a complete robot compiler.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICRA.2014.6907044
